Motion planning for a formation of autonomous robots

Abstract

In this work the latest research results are presented within the framework of the thesis Motion planning for a formation of autonomous robots. Path planning is the task of finding a continuous path that will drive the robot from the start to the goal location avoiding collisions with obstacles. Based on the Simple Genetic Algorithm (AGS) exploration method and the classic A* search algorithm, a hybrid path planning algorithm for multirobots systems is proposed. This algorithm finds the optimal (or near-optimal) collision-free paths of a robot formation from an initial configuration to a final configuration, taking into account the possibility of separation and their subsequent reunification (split&merge). The results of the simulations show that the algorithm is suitable for use in complex environments with obstacles and for a multirobots system.